Traction robot

ABSTRACT

A traction unit has carrier sections on which suction cups are mounted that are connected to a vacuum source. The carrier units are driven around the frame by a chain driven by a motor. The frame has sections which move relative to one another in order to permit turning control of the traction unit.

CROSS REFERENCES TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.14/199,554, which is a continuation-in-part of U.S. patent applicationSer. No. 13/964,907, filed Aug. 12, 2013, now abandoned, which is acontinuation-in-part of U.S. patent application Ser. No. 13/540,238,filed Jul. 2, 2012, now U.S. Pat. No. 8,505,663, which is acontinuation-in-part of U.S. patent application Ser. No. 12/846,505,filed Jul. 29, 2009, now U.S. Pat. No. 8,210,303, the entire disclosureof which is incorporated herein by reference, and claims the benefit ofU.S. Provisional Patent Application No. 61/229,704, filed Jul. 29, 2009to the same inventor as herein, the entire disclosure of which isincorporated herein by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a remote control device or selfcontrolled robotic device used for traversing an apparatus for workingon a surface while adhering to the surface through suctions cups orpads.

2. Description of Related Art

Remote controlled devices and robots are used in remote, hazardous ordifficult to reach areas in which operations are performed. The tractiondevice for such robots and remote control devices enables climbing avertical wall or traversing a ceiling. Such devices are useful innon-destructive testing and of interest in the aircraft industry, inparticular.

U.S. Pat. No. 7,404,464 to Imus et al discloses a traction device havinga continuous traction belt provided on a pair of opposing rollers inwhich the traction belt includes openings such that a vacuum may beapplied through the traction belt enabling the apparatus to cling to aworking surface.

U.S. Pat. No. 6,742,617 discloses a traction unit that is able totraverse compound curves and surfaces having suction cups that enablethe apparatus to adhere and release from the surface as the tractionunit moves across a surface.

SUMMARY OF THE INVENTION

According to embodiments of the invention, a traction device has suctionpads instead of or in addition to suction cups that enable the device toadhere to a smooth surface and/or an irregular surface on which ittraverses supported by carriers that traverse a frame. Suction isapplied to the cups or pads to enable the cups or pads to engage thesmooth or irregular surface to provide the resulting adhesion. Suctionis applied to the cups or pads to enable the cups to engage the surfaceto provide the resulting adhesion.

According to embodiments of the invention, the frame on which suctioncups or pads are supported and move around is articulated and can beadjusted to change direction of the traction device as the tractiondevice moves across the surface to which the suction cups or padsadhere.

According to embodiments of the invention, a traction unit is capable oftraversing a surface at a controlled rate and turning by remote controlon surfaces that include compound curves, vertical walls and ceilings.By mounting a working apparatus that performs sanding, buffing, paintremoval, drilling or non-destructive testing equipment, the work surfacecan be traversed by the traction unit and work accomplished by remotecontrol or robotically.

According to embodiments of the invention, the frame for holding thesuction cups or pads is comprised of sections flexibly connected to oneanother to enable the sections of the traction unit to move with respectto one another for traversing a work surface in a straight line or atangles thereto in order to make turns in accordance with adjustmentsmade between adjacent sections in the connection angle betweentherebetween for ensuring versatile movement of the traction unit indifferent directions along its path of travel.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, in conjunction with the general descriptiongiven above, and the detailed description of the preferred embodimentsgiven below, serve to illustrate and explain the principles of thepreferred embodiments of the best mode of the invention presentlycontemplated.

FIG. 1 is a side view of a traction unit according to a first embodimentof the invention shown schematically.

FIG. 2 is a top view of one part of a traction unit as shown in FIG. 1.

FIG. 3 is a side view of the carrier shown in FIG. 2 according to theembodiment of the invention shown in FIG. 1.

FIG. 4 is a schematic view of the positioning of the carrier withrespect to the suction cups supported on a frame member with a tractionunit of FIG. 1 traveling in a straight line direction.

FIG. 5 is a view similar to FIG. 4 showing the section of one framesection pivoted to one side to show turning movement of the tractionunit.

FIG. 6 is a view showing the displacement or direction change that isachieved by the adjustment in angle made between adjacent sections asshown in FIG. 5.

FIGS. 7( a)-7(e) show the position of the support bracket with respectto the suction cups during straight line movement and during positioningaccording to an embodiment of the invention.

FIG. 8 shows a modification to the embodiment of the invention in whicha platform supporting a work implement is attached to the frame for on atraction unit according to one embodiment of the invention.

FIG. 9 shows another view of the base for a work implement as shown inFIG. 8.

FIG. 10 shows a top view of the base for a work implement as shown inFIG. 8.

FIG. 11 shows a side view of another embodiment of the traction unitaccording to the invention.

FIG. 12 shows a top view of the embodiment of the invention shown inFIG. 11.

FIG. 13 shows a schematic side view of a section of the support frame ofthe traction unit shown in FIG. 11.

FIGS. 14( a)-14(e) show schematically the positioning of each section ofa traction unit in straight line movement and in movement which turnsfrom straight line movement.

FIGS. 15( a)-(b) show a perspective view of a suction pad according toembodiments of the invention and a partial sectional view of the suctionpad, respectively.

FIG. 16 shows a perspective view of a traction unit of anotherembodiment of the present invention.

FIG. 17 shows schematically the positioning of each section of atraction unit in movement which turns from straight line movement.

FIG. 18 shows the positioning of each section of a traction unit inmovement when a lead section turns from heading in an initial directionto a new direction.

FIG. 19 shows a perspective view of a traction unit of anotherembodiment of the present invention.

FIG. 20 shows the displacement of a sheet metal guide in dashed linesrelative to an initial position of the same sheet metal guide (shown insolid lines).

FIG. 21 shows the relative displacement of sections of the robot and thedisplacement of the suction pad bracket relative to a bracket as aresult of the bracket pivoting on a pivot point.

DETAILED DESCRIPTION OF THE INVENTION

In the following detailed description of the invention, reference ismade to the accompanying drawings which form a part of the disclosure,and, in which are shown by way of illustration, and not of limitation,specific embodiments by which the invention may be practiced. In thedrawings, like numerals describe substantially similar componentsthroughout the several views. Further, the drawings, the foregoingdiscussion, and following description are exemplary and explanatoryonly, and are not intended to limit the scope of the invention or thisapplication in any manner.

A traction unit according to one embodiment of the invention as shownschematically in side view in FIG. 1. The traction unit has a frame 101of a shape, such as an oval shape, as shown in the figure. The frame ispreferably of tubular construction having a rectangular cross-sectionalshape as shown in FIG. 3, for example. A plurality of carriers 102, onlyone of which is shown for brevity, are mounted to move around the frame101 and are spaced equidistantly around the frame as indicatedschematically. The carriers 102 are, as shown in FIG. 3, provided withrollers 103 that engage frame 101 to move along frame 101. A chain 108(shown schematically) is driven by a motor 107 at one end of thetraction unit and supported by a sprocket 117 at the other end of thetraction unit. The carrier 102 has a mounting connection to the chain108 of a conventional type which enables the carrier 102 to be drivenaround the frame 101.

As shown in FIG. 1 the traction unit has a control unit 300 onboard, forexample on the work platform or mounted internally, optionally with amicroprocessor and with communication capability to a remote control toenable control of the traction unit by manipulating the speed of motor107 and positioning of hydraulic actuators 18 to which the control unitis connected. Alternatively, control unit 300 has a program forcommanding control of motor 107 and actuators 18 to traverse aprogrammed path. Feedback with respect to image or position andorientation (through accelerometers, a GPS system or localized positioncontrol system, for example) can also be used for input parameters tothe control unit to ensure movement along the desired path.

Each carrier 102 has guide suction cups 104 that engage a work surfaceWS and are connected to a vacuum source 110 through a vacuum hose 111(shown schematically) with the understanding that each of the carriershas a shared or separate suction hose connected to the suction cups.Further, the vacuum source is a vacuum pump self-contained within thetraction unit or is a vacuum distributor which receives vacuum from ahose connected to a source of vacuum remotely from the traction unit.Further, the vacuum source is a vacuum pump self contained in thetraction unit powered by compressed air. Further, compressed air cancome into each of the carriers equipped with a venturi vacuum generator.

The frame 101 is comprised of sections 10 and 11 that are hinged orotherwise flexibly connected to each other at connection points 12 asshown in FIGS. 1 and 2 with respect to one such connection. Framesections 10 and 11 have angled or tapered ends 14 and 15, respectivelyto enable relative positioning between the frame section members withoutinterference. The positioning of the frame members with respect to oneanother can be accomplished through suitable drive mechanisms, such ashydraulically actuated cylinders, driven pneumatically, 18, which areshown in the figure to be a pair of cylinders. When one cylindercontracts and the other cylinder expands, the frame section member 11 isable to move with respect to the position shown in dashed lines in FIG.2 to be positioned at an angle with respect to frame section member 10.In this manner, the suction cup carrier 102 which moves along the frame101 is positioned to turn the traction unit in one direction or another.

FIGS. 4-6 show the adjustment made in the direction of movement of thetraction unit schematically when positioning of a frame section 11 withrespect to a frame section 10. In FIG. 4, frame section 11 is shown in aposition shown by solid lines in FIG. 2. In FIG. 5, the frame section 11is moved to the position shown by dashed lines in FIG. 2. As a result,the carrier 102, through the engagement of rollers 103 on the framesection member 11 of frame 101, changes its orientation such thatforward movement along the frame section 11 results in displacement ofthe traction unit to a position shown in FIG. 6.

The movement of frame 11 not only turns but can move sideways fromdotted line to solid line as shown in FIG. 6. This is accomplished byslotting the support bracket 102 to allow pin 105 to move and carryframe 11 to one side. This movement can be controlled by spring loadingor cylinder (pneumatic or hydraulic). Another solution is a member canbe connected by pin 105 then adjoined to ride in a slotted supportbracket 102.

As shown in FIG. 3, a support bracket 106 supports the rollers 103 andis pivoted by a connection 105 which may be a pivot pin, threadedconnector, rivet and the like, to carrier 102. The pivoted connectionenables the support bracket 106 to pivot as shown in FIGS. 4-6, forexample.

FIGS. 7( a)-7(e) show the range of motion which the traction unit isable to move by making adjustments between the frame section members.Further, although only one connection between sections of frame 101 isshown in FIGS. 1 and 2, it is understood that frame 101 may compriseseveral sections including three or more sections, three of which areshown in FIGS. 7( a)-7(e).

As shown in FIG. 7( a), the linked together sections 10, 11, 11′ areable to shift with respect to one another with the resultingrepositioning of the suction cups 104 carried by the carrier 102 as aresult of the pivot pin 105 permitting relative movement between thesupport bracket 106 and the carrier 102.

As shown, the positioning of the suction cups 104′ is the same as FIG.7( a) with respect to the initial position of suction cups 104 and isdifferent in FIGS. 7( c) and 7(d) from the initial position of thesuction cups. Accordingly, the articulation between the sections of theframe 101 enables movement of the traction unit as the traction unittraverses the work surface to a varying degree depending on thepositioning of adjacent frame sections. FIG. 7( e) shows a result of anadjustment made between adjacent sections such that the traction unitproceeds at an angle shifted with respect to the direction of movementshown in FIG. 7( a) (arrow A in FIG. 7( a).

FIG. 8 shows a detail of a support platform or base 111 for a workingimplement which is moved by the traction unit that is connected by astrut 112 to frame member 101. Support or base platform 111 enables thetraction unit to move a device useful in working on surface WS toperform remotely controlled or self-controlled robotic operations suchas grinding, sanding, paint removal, drilling, or non-destructivetesting or painting on the surface of work, such as the skin of anaircraft. Further, for aircraft having a wing or a fuselage that extendsin all directions vertical and horizontal and curved, the traction unitmoves along these curved surfaces and provides a stable platform 111 onwhich work apparatus can be mounted for working on the work surface asthe traction unit traverses the work surface. The platform is alsosuitable for the mounting of the control equipment that communicatesremotely with the operator or that houses the microprocessor controllerthat operates and controls adjustments of the movements of the motor 107and cylinders 18.

FIG. 9 shows the work platform or base 111 in side view mounted on atraction unit according to the embodiment of the invention shown inFIG. 1. FIG. 10 shows a top view of a portion of the work platform orbase 111 shown in FIGS. 8 and 9.

FIG. 11 shows a traction unit according to another embodiment of thepresent invention. The figure shows a traction unit having vacuum cups104 mounted on carriers 202 that are connected together by a cable 208driven by a motor through pulleys 207 and 217. As shown in FIG. 13, thetraction unit has a platform or base 211 on which are mounted guidetracks or angle rails 231. The carriers 202 have rollers 203 that engagethe angle rails 231 so that as the cable 208 pulls the carriers 202around the rail tracks, the rollers engage the rails and advance theplatform or base 211 with respect to the suction cups 204. As shown inFIG. 12, the sections 209, 210 and 211 of the traction unit are pinnedtogether or pivotally connected to one another at 222 to permitarticulated movement of adjacent sections 209, 210 and 211. In anarrangement similar to the first embodiment, a support bracket 206 ispinned to the carrier 202 by a pin or suitable pivoting connection 205which allows for relative movement. As shown in FIG. 12, when thesection 211 is shifted by a positioning device such as a hydrauliccylinder that is pneumatically operated, for example, (not shown) thesection 211 is moved without shifting of the vacuum suction cups.Further, FIGS. 14( a)-14(e) show movement of the adjacent sections 209,210 and 211 in a manner similar to that as shown in FIGS. 7( a)-7(e),and therefore further description of the figures is believedunnecessary.

FIG. 15( a) shows a perspective view of a suction pad that is suitablefor use interchangeably with suction cups 104. The suction pad 310 maybe comprised of a tough flexible sheet such as a composite of glass andurethane 300 that is cemented or otherwise adhered to a soft or pliant,closed cell foamed material 301 that is also flexible. The pad is heldby a frame member of carrier 102, such as a shaft, which passes throughsleeve 302. The frame member 312 is in turn connected connecting rods orshafts 304 that support each of the individual support members 303through shaft and sleeve or otherwise freely moveable bearingconnections 314.

As shown in FIGS. 15( a) and 15(b), the support members 303 areconnected to the pad 310 via a nozzle 305 passing through a top sheet300 of the pad and a through bore 323 of the support arm 303. The nozzlemay be metal or plastic and fit into place to secure the member 303 tothe pad 300 through a compression fit or suitable threaded connection.The tip of the nozzle is connected to a vacuum hose compatible withvacuum hose 111 shown in FIG. 1, for example. The vacuum is supplied tothe cavity 331 and the pad 310, which may be a section of foam material301 that is removed below the nozzle 305 as shown in FIG. 15( a).

Preferably the vacuum connection is a slip on fitting to be received bythe nozzle 305 for applying a vacuum in the cavity of the vacuum pad.Since the pad is flexible and will compress the pliable foam materialonto the surface 306, the area around the cavity will be sealed. Severalcavities are provided within the pad, only one of which is shown in FIG.15( a). Further, the rocker arm arrangement of the frame permits theflexible pad to seal to adapt to irregularities of surface 306 to make asystem that can seal and grip a rough and uneven surface, for exampleconcrete wall.

As will be appreciated by those of ordinary skill in the art, the systempermits the robot to traverse a rough and uneven surface by substitutingthe suctioned pads 310 for the suction cups 104 and by further providingsuction hoses to each of the nozzles 305, and otherwise enabling themovement of the robot to be conducted in the same manner as disclosedwith respect to the previously described embodiments.

Additionally, the pneumatic operating system which applies suction tothe nozzles 305 of a suction pad can be replaced by a hydraulic systempermitting the robot to operate under water. A water hose connected toan underwater robot can direct the water to a hydraulic designed venturito produce a partial vacuum, which vacuum would then be distributed toappropriate hoses to the nozzles of the vacuum pad to provide underwatergripping of the pad.

For a surface of steel, additional gripping could be provided usingmagnets in place of or in addition to the suction pads 310 or suctioncups 104 such that the electrical switching of the control of the magnetis cycled on and off through the movement of the carrier according to anoperation similar to that required for providing suction to the suctioncups.

Another embodiment of the present invention will be explained below.Benefits of the following embodiment include the ability to betteradhere and traverse a rough surfaces e.g., a concrete wall. The tractionunit can also travel over complex curved shapes such as by circlingaround the circumference of a tank, large pipe, etc. As a result of theconfiguration of the present embodiment, the unit is lighter in weight,more agile, and able to be controlled remotely.

As shown in FIG. 16, the robot is comprised of a main frame 400, whichmay be a tubular aluminum frame of rectangular shape, connected at eachend to auxiliary frame sections 401, which may also constructed of atubular aluminum frame and having a modified rectangular shape, i.e. atrapezoidal shape 430 at each end portion connected to the main framethrough universal joints 408, which permit side-to-side and up and downrelative movement. At the other end of each of the auxiliary framemembers are upstanding posts that support drive sprockets (drivepulleys) 460.

Sheet metal guides 402, 422 are fabricated for each of the main andauxiliary frames 401, 400, respectively. The sheet metal guide 422 is ofa generally c-shape and wraps around the end portion of the auxiliaryframe 401 and is supported across the bottom by the generallyrectangular shaped frame and at the ends through connection to theupstanding posts 432. The sheet metal guide 422 is also connected acrossthe top through connection at the terminal ends to an adjacent uppersheet metal guide part 402 for the main frame. The main frame has alower sheet metal guide part 412 that is connected to the main framemember 400.

Preferably, in a configuration as shown in FIG. 16, there are 9 suctionpads provided (evenly spaced apart, but not all shown, for clarity).Suction pads 406 are mounted on c suction pad brackets 404, each havinga guide roller 405 on each lateral side of the sheet metal guide forengaging the edges of the sheet metal guides as the suction pad brackets404 are driven around the frame structure. The suction pads 406 arerotatably mounted on the brackets 404 by pin 407. The brackets 404 aredriven by connection to a drive chain 420 that is driven by engagementwith drive sprockets 460. The drive chain passes through a slot 428 inthe sheet metal. As a result of the brackets being chained together andpulled by the end pulleys 460, the brackets 404 and suction pads 406 aredriven around the frame members and guided by the sheet metal guides toprovide for relative orientation of the frame members, includingrelative lateral movement between the main and auxiliary frame members,and up and down movement therebetween.

More main frames and/or auxiliary frames 400, 401, respectively, withcorresponding sheet metal guide parts can be linked together to increasethe length of the traction unit. Further, suction pads 406 may be addedor removed as necessary. The flexible composite/foam construction of thepad permits them being bent around the end drive pulleys 460. It alsohas excellent molding and sealing characteristics required for adhesionas the multiple suction cavities traverse irregular surfaces. The sheetmetal frames (auxiliary and main frames) provide a structure for thetraction unit and allow for maneuverability in the lateral directionsand displacement in vertical directions to allow for traversing surfaceswhich are curved or bumpy.

Examples of the chain drive include a bead chain, ball chain, flexiblebelt, and further includes, depending on the application, a cable, suchas an aircraft cable. The chain drive engages with the end pulleys 460through slots 428. In one embodiment, the chain is a bead chain whichhas swivel characteristics as a result of the spherical shape of thebead chain links. Bead chain drives, which may be included as part ofthe drive pulleys 460, have sprockets which provide a flexible, positivedriving mechanism at low cost.

As stated above, each suction pad bracket 404 includes rolling pulleys405, which engage the sheet metal guides 402. Accordingly, as the chainis driven, the suction pad brackets 404 connected to it move and areguided by the sheet metal guides 402. The rolling pulleys 405 andflexible chain allow for the suction pad brackets 404 to follow a coursedictated by the front auxiliary frame, thereby providing maneuverabilityfor the traction unit.

As the robot moves forward the best surface adhesion promotion isdeveloped when the pad is correctly positioned over the surface.Optional equipment for better positioning would start with measuring thedistance between the pad and surface, typically by a distance sensor403. Many different types are available which includes, electronic andpneumatic means. The signals from the sensor 403 are then programmed toactuate one of two systems. One system would send a signal of thesensors 404 to energize actuators, located at the universal joint 408,to adjust angles between the frame and its auxiliary producing a curvethus shaping the guide with it. A second system to bend and form theguide would simply locate both sensors and actuators at each of the sixpoints 403. The actuators can then move to satisfy the sensors input toin order for the guide to parallel the surface. The sensors 403 locatedon each frame may provide information such as distance to the worksurface from the frame and surface characteristics (bumpy, curved,etc.).

The motor 417, either electric or pneumatic powered, is connected to thetwo drive pulleys 460 for either forward or backward motion. For turningmotion the robot if traveling from right to left and turning to theright requires the auxiliary frame 401 swing right, dotted lines. Thisis remotely controlled and powered by an actuator located between themain and auxiliary frames.

In FIG. 17, the robot repeats itself for the formation of a millipedelike structure. The advantages are an obvious increase in holding powerfor difficult surfaces since multiple ones of the bracket arms arestably secured to the surface on which the traction device is crawling,before the suction hold is released as a result of forward/reversemovement. The universal joints 408 will also enable the unit to bend upor over obstacles such steps or walls.

FIG. 18 shows the positioning of each section of a traction unit inmovement when a lead section turns from heading in an initial directionto a new direction. As shown, the lead section is turned relative to thesection behind it in the direction of the arrows shown, while themovement of the robot is travelling in a direction of right to left, forexample. In this example, as the lead section (forward most section indirection of travel) is turned relative to the section behind it, therobot takes on a new direction of movement indicated by arrow 502. Arrow500 indicates an initial direction of movement of the robot before thedirection is changed by the lead section. Accordingly, as the robotmoves in the travel direction, the robot may turn according to the turndirection of the lead section.

FIG. 19 shows a perspective view of a traction unit of anotherembodiment of the present invention. FIG. 19 shows a traction unitsimilar to the one shown in FIG. 16. FIG. 19 shows bracket 425 mountedon top of suction pad brackets 404. Guide roller 405 is mounted on thebracket 425. Accordingly, the suction pads 406 are connected to thetraction unit via suction pad brackets 404 and bracket 425. As bettershown in FIG. 20, a swivel or pivot connection 333 is provided betweenthe suction pad bracket 404 and bracket 425. The pivot connection is amechanism, such as a rivet, that allows pivoting or swiveling. Thestructure of the suction pad bracket 404 and the bracket 425 connectedby a pivot connection 333 allows the suction pad bracket 404 to swivelor pivot with respect to the bracket 425, which stays aligned with thesheet metal guides 402 of the traction unit. In other words, the guiderollers 405, which are mounted on the brackets 425, maintain alignmentwith the sheet metal guides 402 as a sheet metal guide 402 of onesection is moved (displaced) with respect to sheet metal guide 402 of anadjacent section. Accordingly, the bracket 425 moves with the sheetmetal guide 402.

FIG. 20 shows the displacement of a sheet metal guide 402 in dashedlines relative to an initial position of the sheet metal guide 402(shown in solid lines). As shown, as the sheet metal guide 402 isdisplaced, the bracket 425 follows the sheet metal guide 402. As aresult of the swivel or pivot connection between the bracket 425 andbracket 404, the suction pad bracket 404 maintains its position andtherefore the suction pads 406 maintain their position and allow for thedisplacement of the sheet metal guide 402.

Upon movement of the robot, each section is able to pivot about pivotpoint 333. Taking the lead section (left most section) of FIG. 21, forexample, the lead section is angled relative to the adjacent section.Denoted at 335 is a reference line indicating the position of thebracket 425 and denoted at 404 is the position of the suction padbracket 404. As shown in FIG. 21, as a lead section is turned, thereference line 335 representing the position of bracket 425, isdisplaced according to the degree of the turn. As such, the referenceline 335 (bracket 425) is maintained in a position perpendicular to thedirection of travel of the lead section. As shown in FIG. 21, thedirection of travel is from the right to left with the lead sectionbeing at the left. As the lead section is turned, the pivot point 333allows the suction pad bracket 404 to become displaced relative to beingperpendicular to the direction of travel of the lead section. Further,the other sections are displaced accordingly as a result of the pivotpoints 333 on each bracket 425 and suction pad bracket 404 assembly andthe flexibility of movement provided by the universal joints 408.

While specific embodiments have been illustrated and described in thisspecification, those of ordinary skill in the art appreciate that anyarrangement that is calculated to achieve the same purpose may besubstituted for the specific embodiments disclosed. This disclosure isintended to cover any and all adaptations or variations of the presentinvention, and it is to be understood that the above description hasbeen made in an illustrative fashion, and not a restrictive one.Accordingly, the scope of the invention should properly be determinedwith reference to the appended claims, along with the full range ofequivalents to which such claims are entitled.

What is claimed is:
 1. A traction unit comprising: a main frame and twoauxiliary frames, the main frame positioned between the two auxiliaryframes and connected via a universal joint for relative movement; aplurality of suction pads connected to the main and auxiliary frames viasuction pad brackets, pins provide a rotatable connection for thesuction pad to the pad brackets; one of a belt and a chain connectingthe brackets for driving movement of the plurality of brackets aroundthe main and auxiliary frames, the one of the belt and chain beingdriven by a motor.